Abstract

This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.

abstract = "This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.",

author = "Zhiyuan Li and Naira Hovakimyan",

year = "2012",

month = dec

day = "1",

doi = "10.1109/CDC.2012.6425935",

language = "English (US)",

pages = "7303--7308",

journal = "Proceedings of the IEEE Conference on Decision and Control",

N2 - This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.

AB - This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.